[EMC]
VERSION = 1.1
MACHINE = Horizontal Boring Mill Simulation
#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG = 0

[DISPLAY]
DISPLAY = axis
CYCLE_TIME = 0.200
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.0
PROGRAM_PREFIX = ../../nc_files/
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
#EDITOR = gedit

[RS274NGC]
PARAMETER_FILE = hbm.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[HAL]
HALUI = halui
HALFILE = hbm.hal

[TRAJ]
COORDINATES = X Y Z W
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 3.0
MAX_LINEAR_VELOCITY = 4.0
MAX_LINEAR_ACCELERATION = 8.0
DEFAULT_LINEAR_ACCELERATION = 8.0

[EMCIO]
EMCIO =                  io
CYCLE_TIME = 0.100
TOOL_TABLE = hbm.tbl

[KINS]
KINEMATICS = trivkins coordinates=xyzw
JOINTS = 4

[AXIS_X]
MIN_LIMIT = -50.0
MAX_LIMIT = 50.0
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 12.0

[JOINT_0]
# this is the table
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 12.0
MIN_LIMIT = -50.0
MAX_LIMIT = 50.0
HOME_OFFSET = -50.5
HOME_SEARCH_VEL = -3.0
HOME_LATCH_VEL = -0.5
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1

[AXIS_Y]
MIN_LIMIT = 0.0
MAX_LIMIT = 100.0
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 12.0

[JOINT_1]
# this is the head moving up and down the column
TYPE = LINEAR
HOME = 12.000
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 12.0
MIN_LIMIT = 0.0
MAX_LIMIT = 100.0
HOME_OFFSET = -0.5
HOME_SEARCH_VEL = -3.0
HOME_LATCH_VEL = -0.5
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1

[AXIS_Z]
MIN_LIMIT = -25.0
MAX_LIMIT = 25.0
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 8.0

[JOINT_2]
# this is the saddle
TYPE = LINEAR
HOME = 20.000
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 8.0
MIN_LIMIT = -25.0
MAX_LIMIT = 25.0
HOME_OFFSET = 25.5
HOME_SEARCH_VEL = 3.0
HOME_LATCH_VEL = 0.5
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0

[AXIS_W]
MIN_LIMIT = -42.0
MAX_LIMIT = 0.0
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 20.0

[JOINT_3]
# this is the quill
TYPE = LINEAR
HOME = -0.100
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 20.0
MIN_LIMIT = -42.0
MAX_LIMIT = 0.0
HOME_OFFSET = 0.5
HOME_SEARCH_VEL = 4.0
HOME_LATCH_VEL = 0.5
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0

[MAX]
# distance from the end of the "reference tool" (tool-length - 0) to the
# center of the head tilt axis
B_PIVOT_LENGTH = 0
